Path Planning Method and Control of Mobile Robot with Uncertain Dynamics Based on Improved Artificial Potential Fields

摘要

To improve the navigation and control efficiency of mobile robots, a novel path planning and control method for uncertain dynamic mobile robots is proposed based on improved artificial potential fields in this paper. Specifically, we define a new class of attractive potential functions to address the Goals Non-Reachable with Obstacles Nearby (GNRON) and the collisions caused by excessive attractive force at long distances from the target point. Then, we design an attractive potential rotation method to overcome the disadvantage that traditional artificial potential is prone to fall into local minima. Additionally, a control law is applied for the mobile robot with uncertain dynamics, and the closed-loop stability of the proposed control system is rigorously proven by the Lyapunov method. Finally, the feasibility and effectiveness of the proposed method are validated by numerical simulations.